CN205126119U - Intelligent cleaning robot - Google Patents
Intelligent cleaning robot Download PDFInfo
- Publication number
- CN205126119U CN205126119U CN201520936759.0U CN201520936759U CN205126119U CN 205126119 U CN205126119 U CN 205126119U CN 201520936759 U CN201520936759 U CN 201520936759U CN 205126119 U CN205126119 U CN 205126119U
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- China
- Prior art keywords
- dust
- subsystem
- robot
- motor
- intelligent cleaning
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Abstract
The utility model discloses an intelligent cleaning robot, this system includes several subsystems such as host system, actuating mechanism and sensor module to commonality and function are complete to have possessed intelligent clear ability for the target makes the robot.
Description
Technical field
The utility model relates to a kind of Intelligent cleaning robot.
Background technology
Along with the development of human society, increasing Domestic automatic electrical equipment enters family.At present, there is multiple clean robot on the market, design that one has autonomous cleaning, keeps away barrier, blocks warning, the functions such as detection are bought securities with all one's capital in dirt storehouse, indoor cleaning works can be independently completed in unmanned intervention situation, also artificially can be controlled the robot system of its state by IR remote controller, be very necessary.Simultaneously, efficiently, reliably fulfil assignment for making robot, embed path covering algorithm therein, it is made to depart from the pattern of random cleaning, the path of having passed by and the Obstacle Position run into can be remembered, do not carry out region-wide cleaning with omitting and do not repeat to run into same barrier, realizing the cleaning process of high coverage rate, low repeatability.
Novel content
The technical problem that the utility model solves is to provide a kind of Intelligent cleaning robot.
Above-mentioned technical problem solves in such a way:
A kind of Intelligent cleaning robot, it is characterized in that: this robot comprises main control section, actuating motor part, Sensor section, input/output section and power unit, described main control section uses AT89C51 system to control, comprise infrared remote control receiver module, the operation to input and output device, the control to actuating motor and the response to sensor; Described actuating motor part is the main composition part of dust-collecting robot, comprises hoofing part subsystem and dust suction subsystem; Described Sensor section is detection subsystem, mainly ensures that robot can work safely; Described input/output section comprises remoting subsystem and display subsystem, can realize the function of man-machine interaction.
Preferably, described power unit adopts chargeable 12 volts of lithium batteries.
Preferably, described hoofing part subsystem adopts wheeled construction, circular shell, and chassis is three-wheeled electric dolly, before two-wheeled by two motor drive, trailing wheel is universal wheel.
Preferably, the rotation of described dust suction subsystem driven by motor cleaning brush, dust is also concentrated on inlet scoop place by cleaning dust, manufactures powerful suction sucked in dust storage box by dust by dust collection mechanism.
After cleaning dust absorption, utilize the Cleaning cloth scrub be arranged on below housing except remaining in ground fine dust.What wheel sub-motor, dust sucting motor and hair brush motor used is all brshless DC motor.
The utility model has the following advantages: this Intelligent cleaning robot meets designing requirement substantially, makes the ability of robot intelligent cleaning, can carry out real work with versatility and complete function for target.
Accompanying drawing explanation
Be further explained in detail in conjunction with the drawings and illustrate.
Accompanying drawing 1 is system architecture schematic diagram.
Accompanying drawing 2 is the workflow diagram of robot system.
Detailed description of the invention
For solving the problems of the technologies described above, the utility model proposes a kind of Intelligent cleaning robot, this robot comprises main control section, actuating motor part, Sensor section, input/output section and power unit, described main control section uses AT89C51 system to control, comprise infrared remote control receiver module, the operation to input and output device, the control to actuating motor and the response etc. to sensor; Described actuating motor part is the main composition part of dust-collecting robot, comprises hoofing part subsystem and dust suction subsystem; Described Sensor section and detection subsystem, mainly for ensureing that robot can work safely; Described input/output section comprises remoting subsystem and display subsystem, can realize the function of man-machine interaction; Described power unit adopts chargeable 12 volts of lithium batteries.Described power unit adopts chargeable 12 volts of lithium batteries.
Described hoofing part subsystem adopts wheeled construction, circular shell, and chassis is three-wheeled electric dolly, before two-wheeled by two motor drive, trailing wheel is universal wheel.
The rotation of described dust suction subsystem driven by motor cleaning brush, dust is also concentrated on inlet scoop place by cleaning dust, manufactures powerful suction sucked in dust storage box by dust by dust collection mechanism.
After cleaning dust absorption, utilize the Cleaning cloth scrub be arranged on below housing except remaining in ground fine dust.What wheel sub-motor, dust sucting motor and hair brush motor used is all brshless DC motor.
Wherein, as shown in Figure 1, the pass of AT89C51 system and other each several part circuit is: receive the order from remote controller by infrared receiving module; The status information of external environment condition is received by each sensor; There is provided voltage by 2 road pwm signals to motor, control speed and the direction of wheel; Cleaning, dust sucting motor is driven by I/O message number control triode and then control relay; Wheel speed is detected by catching 2 motor encoder signal; By multiple I/O mouth control LCD; Serial ports is utilized to become the multiple LED light of parallel port chip controls and button etc.
The motor of advancing of robot amplifies rear drive by drive circuit, considers the factor such as voltage, electric current, have employed L298N and carrys out drive motors.L298N is constant pressure and flow dual H-bridge integrate motor chip, can control 2 motors, and output current can reach 2A simultaneously.Cleaning and dust sucting motor are all driven by relay, and the I/O mouth of AT89C51 only needs, to a signal, to make switch drive relay, coil electricity by triode, normal ported closed, just can drive motors.Sensor assembly adopts eight ultrasonic sensors, is driven respectively by two T6114 modules, and each module integration ultrasound examination part of 4 passages, can be used as 4 supersonic switch simultaneously use.Each ultrasonic listening passage has independently State-output.Four sensors of module (1) are respectively left, left front, right, right front to obstacle detecting sensor, receive the P2.0 of AT89C51 single-chip microcomputer, P2.1, P2.2, P2.3 pin.The output of 1, No. 2 probes of module (2) inputs to two inputs and door, receives the external interrupt request INT1 (P3.3) of AT89C51 with the output of door.These two groups probes are arranged on the front of robot side by side, as long as a way switch wherein detects obstacle, will trigger the external interrupt of AT89C51, after robot stops, according to the detected value of four groups of sensors of module (1), the position of disturbance in judgement thing, takes to keep away barrier measure accordingly.The P2.4 of AT89C51 single-chip microcomputer, P2.5 pin are received in the output of 3, No. 4 probes of module (2), as the basis for estimation that photoelectric encoder counting starts and terminates.The novel middle robot of this use realizes the clog-free region of traversal, requires that robot will get back to original course and get on after getting around barrier.For realizing this target, needing to record robot in the distance departing from original route in barrier process, utilizing photoelectric encoder to realize this function.The output of photoelectric encoder connects the external interrupt INT0 of single-chip microcomputer.
In input/output section, infrared remote control receiver module forms by transmitting and receiving 2 major parts, and infrared receiver chip selects PIC-2319SCL.Use single-chip microcomputer to carry out infrared function coding on a remote control, in robot, because single-chip microcomputer Processing tasks is a lot, therefore select special decoding chip.Decoding chip adopts a kind of CMOS large scale integrated circuit RX6B for remote control small truck, and it has seven operating keys to control the movement of small truck.Because the frequency of oscillation of Code And Decode must be consistent, the size of frequency is determined by the resistance between OSCI and OSCO.The signal of 4 infrared receiving tubes, by being connected with the input SI of chip with door, makes decoding chip can normally work when receiving the infrared signal of any direction.
In addition, the utility model uses 6 to control button, in order to save the I/O mouth of single-chip microcomputer, using the mode of matrix to carry out supervisory keyboard by five general purpose I/O pin, using the keyboard structure of 3 × 2.Line all employs keyboard interrupt pattern, and alignment is that common I/O mouth controls, and therefore the design of program needs to take to inquire about double mode of interrupting to judge which button is pressed.
Due to peripheral sensor and interface circuit number more, and the general purpose I of single-chip microcomputer/O pin is limited, if use parallel liquid crystal display, then cannot meet the demands, strict requirement be there is no to the reaction speed of liquid crystal display simultaneously, therefore consider the liquid crystal display changing serial.
As shown in Figure 2, be the workflow diagram of robot system, main program task is the initialization of completion system.When all is clear ahead, robot advances according to the path of setting.The path covering algorithm of this research is based on static structure environmental model, when obstacle information is given in advance, adopt the path planning algorithm walked along limit, namely allow robot along the Boundary Moving of wall limit or barrier, carry out inner-spiral type and " return " font path planning.
When front detects obstacle, trigger external interrupt INT 1, enters and keeps away barrier interrupt service subroutine.Keeping away the barrier interrupt service subroutine task of mainly completing is: when robot front detects obstacle, robot first stops, then the situation of disturbance in judgement is carried out according to sensor detection signal that is left, left front, right, right front, by changing defeated people's signal of motor driver, regulate motor speed and direction, make left and right sidesing driving wheel motor produce differential, thus reach and wait turning, keep away the object of barrier.Other funtion parts ensure that robot can realize predetermined function, and when to comprise pair, in real time, read clock, infrared remote control create map, safety detection path covering algorithm and remote control and recall.
Describe embodiment of the present utility model in detail with reference to accompanying drawing above, but be only unrestricted the utility model to of the present utility model schematically illustrating.In addition, those skilled in the art can make modifications and variations to the utility model upon reading the above description, and this modifications and variations also drop within protection scope of the present invention.
Claims (4)
1. an Intelligent cleaning robot, it is characterized in that: this robot comprises main control section, actuating motor part, Sensor section, input/output section and power unit, described main control section uses AT89C51 system to control, comprise infrared remote control receiver module, the operation to input and output device, the control to actuating motor and the response to sensor; Described actuating motor part is the main composition part of dust-collecting robot, comprises hoofing part subsystem and dust suction subsystem; Described Sensor section and detection subsystem, mainly for ensureing that robot can work safely; Described input/output section comprises remoting subsystem and display subsystem, can realize the function of man-machine interaction.
2. Intelligent cleaning robot according to claim 1, is characterized in that: described power unit adopts chargeable 12 volts of lithium batteries.
3. Intelligent cleaning robot according to claim 1, is characterized in that: described hoofing part subsystem adopts wheeled construction, circular shell, and chassis is three-wheeled electric dolly, before two-wheeled by two motor drive, trailing wheel is universal wheel.
4. Intelligent cleaning robot according to claim 1, it is characterized in that: the rotation of described dust suction subsystem driven by motor cleaning brush, dust is also concentrated on inlet scoop place by cleaning dust, manufactures powerful suction sucked in dust storage box by dust by dust collection mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520936759.0U CN205126119U (en) | 2015-11-23 | 2015-11-23 | Intelligent cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520936759.0U CN205126119U (en) | 2015-11-23 | 2015-11-23 | Intelligent cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205126119U true CN205126119U (en) | 2016-04-06 |
Family
ID=55611949
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520936759.0U Expired - Fee Related CN205126119U (en) | 2015-11-23 | 2015-11-23 | Intelligent cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205126119U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106371441A (en) * | 2016-10-13 | 2017-02-01 | 安徽翔龙电气有限公司 | Intelligent sweeping robot system with voice input function |
| CN106406372A (en) * | 2016-04-13 | 2017-02-15 | 上海物景智能科技有限公司 | Multi-motor controller used for unmanned cleaning vehicle |
| CN106502251A (en) * | 2016-12-02 | 2017-03-15 | 深圳大学 | Intelligent vehicle group and its control method based on WiFi and ZigBee |
-
2015
- 2015-11-23 CN CN201520936759.0U patent/CN205126119U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106406372A (en) * | 2016-04-13 | 2017-02-15 | 上海物景智能科技有限公司 | Multi-motor controller used for unmanned cleaning vehicle |
| CN106371441A (en) * | 2016-10-13 | 2017-02-01 | 安徽翔龙电气有限公司 | Intelligent sweeping robot system with voice input function |
| CN106502251A (en) * | 2016-12-02 | 2017-03-15 | 深圳大学 | Intelligent vehicle group and its control method based on WiFi and ZigBee |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160406 Termination date: 20161123 |